Velocity of torso. It is an unactuated body with 6 degrees of freedom
(3 translations, 3 rotations);

Velocity of all the articulated joints.
LHand and RHand are not taken into account because they are not part of
a kinematics chain.
Moreover, LHipYawPitch and RHipYawPitch are mapped to a single variable
because these articulations are controlled by only one actuator.

During joint control (
Choregraphe
Timeline for example), motion can be stabilized
by Whole Body balancer. Consequently, initial motion is modified to the closest
motion which respects balance and/or foot state.

In the following example, we have specified that the feet have to keep flat on the ground.

Then, we send command on HipYawPitch joint. This joint is the only way to rotate the foot of NAO,
but with only joint control it is really difficult to keep the feet flat; with Whole body it’s easy
and the generated motion is stable.